Crater Identification Simulation Using Lidar on Lunar Rover

作     者：Zhou, Yier Li, Xiaolu Hua, Baocheng 

作者机构：School of Instrumentation and Optoelectronic Engineering Beihang University Beijing100191 China Lab of Space Optoelectronic Measurement & Perception Beijing Institute of Control Engineering Beijing100191 China 

出 版 物：《SSRN》 

年 卷 期：2022年

核心收录：

主　　题：Lunar missions 

摘      要：Crater identification is an important task of environment perception, which is benefit for path planning and safe campaign of Lunar rover. To overcome the partial missing of point cloud obtained by LiDAR, a three-dimensional data-based crater identification method is proposed to complete the crater, which can be evaluated by completion rate and detectivity probability. To obtain a reasonable identification of the craters, three parameters are varied for evaluating the consequence of crater identification: the terrain frequency, the ranging errors and the angle errors. The simulation experimental results show that the proposed method achieves the completion rate of exceeding 84.18%, and the detectivity probability more than 80.58%, when the conditions of terrain and LiDAR sensor are satisfied as terrain frequency higher than 20m-1, the ranging error lower than 0.07m and the vertical angle error lower than 0.3°. This three-dimensional environment perception simulation for crater identification will be instructive for Lunar exploration. © 2022, The Authors. All rights reserved.